A dual-arm robot framework performs online inertial estimation from contact wrenches and uses SOCP under ellipsoidal friction constraints to lift boxes with unknown properties while maintaining stable contact.
Tedrake, the Drake Development Team, Drake: Model- based design and verification for robotics (2019)
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Industrial Dual-Arm Box Handling via Online Inertial Estimation and Convex Wrench Optimization
A dual-arm robot framework performs online inertial estimation from contact wrenches and uses SOCP under ellipsoidal friction constraints to lift boxes with unknown properties while maintaining stable contact.